Automated manufacturing of shoe parts

ABSTRACT

Manufacturing of a shoe or a portion of a shoe is enhanced by executing various shoe-manufacturing processes in an automated fashion. For example, information describing a shoe part may be determined, such as an identification, an orientation, a color, a surface topography, an alignment, a size, etc. Based on the information describing the shoe part, automated shoe-manufacturing apparatuses may be instructed to apply various shoe-manufacturing processes to the shoe part.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application, entitled “AUTOMATED MANUFACTURING OF SHOE PARTS” isrelated by subject matter to concurrently filed U.S. patent applicationSer. No. 13/299,856, entitled “AUTOMATED IDENTIFICATION OF SHOE PARTS;”U.S. patent application Ser. No. 13/299,827, entitled “AUTOMATED 3-DMODELING OF SHOE PARTS;” U.S. patent application Ser. No. 13/299,872,entitled “AUTOMATED IDENTIFICATION AND ASSEMBLY OF SHOE PARTS;” U.S.patent application Ser. No. 13/299,908, entitled “MULTI-FUNCTIONALMANUFACTURING TOOL;” U.S. patent application Ser. No. 13/299,934,entitled “MANUFACTURING VACUUM TOOL;” and U.S. patent application Ser.No. 13/299,890, entitled “HYBRID PICKUP TOOL.” The entireties of theaforementioned applications are incorporated by reference herein.

BACKGROUND

Manufacturing a shoe typically requires various assembly steps, such asforming, placing, and assembling several parts. Some methods ofcompleting these steps, such as those that rely heavily on manualexecution, may be resource intensive and may have a high rate ofvariability.

SUMMARY

This summary provides a high-level overview of the disclosure and ofvarious aspects of the invention and introduces a selection of conceptsthat are further described in the detailed-description section below.This summary is not intended to identify key features or essentialfeatures of the claimed subject matter, nor is it intended to be used asan aid in isolation to determine the scope of the claimed subjectmatter.

In brief and at a high level, this disclosure describes, among otherthings, manufacturing of a shoe in an automated fashion. For example, byanalyzing an image of the shoe part, information describing the shoepart may be derived, such as an identification and orientation of a shoepart, shoe-part surface topography, shoe-part size, shoe-part alignment,etc. Based on the identification and the orientation, automatedshoe-manufacturing apparatuses may be instructed to apply variousshoe-manufacturing processes to the shoe part.

An exemplary system that manufactures shoes and/or shoe parts in anautomated fashion may be comprised of various components, such asmanufacturing stations, a part-recognition system, andshoe-manufacturing apparatuses and tools. In one exemplary aspect, thepart-recognition system analyzes images of shoe parts to generateimage-derived information (e.g., shoe-part identification, shoe-partorientation, surface topography, part alignment, part size, etc.). Theimage-derived information is used to instruct shoe-manufacturing toolsthat pickup, transfer, place, and attach shoe parts at desiredpositions.

An exemplary method for manufacturing a shoe part in an automated mannermay comprise various steps. For example, a first shoe part may bepositioned at a manufacturing station, such that a part-recognitionsystem determines an identity of the first shoe part and determines anorientation of the first shoe part. In addition, a second shoe part maybe retrieved from another manufacturing station, such that thepart-recognition system determines an identity of the second shoe partand determines an orientation of the second shoe part. Apart-manufacturing apparatus may be used to transfer the second shoepart from the second-shoe-part orientation to a subsequent orientation,which is determined based on the orientation and identity of the firstshoe part. In addition, the part-manufacturing apparatus, whichtransferred the second part, may be used to temporarily attach thesecond shoe part to the first shoe part to maintain positioning fordownstream processing.

In a further exemplary method for manufacturing a shoe part in anautomated manner, a first shoe part may be positioned on a supportsurface at a first manufacturing station, such that the first shoe partis substantially flat on the support surface. In addition, a firstautomated part pickup tool may place a second shoe part on top of thefirst shoe part. A first automated attachment tool may attach the secondshoe part to the first shoe, thereby forming an assembly of the firstshoe part and the second shoe part. Moreover, the assembly may be movedto a second manufacturing station, such that a second automated partpickup tool places a third shoe part on top of the assembly, and asecond automated attachment tool may attach the third shoe part to theassembly.

In another exemplary method for manufacturing a shoe part in anautomated manner, a first shoe part may be positioned at a firstmanufacturing station, such that a part-recognition system determines anidentity of the first shoe part and determines an orientation of thefirst shoe part. In addition, a second shoe part and third shoe part maybe retrieved from another manufacturing station, such that thepart-recognition system determines respective identities and respectiveorientations of the second shoe part and the third shoe part. Apart-manufacturing apparatus may be used to sequentially transfer thesecond shoe part and the third shoe part from the respectiveorientations to respective subsequent orientations to be attached to thefirst shoe part based on the orientation and location of the first shoepart. In addition, the part-manufacturing apparatus, which sequentiallytransferred the second shoe part and the third shoe part, may be used toattach the second shoe part and the third shoe part to the first shoepart.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

Illustrative aspects of the present invention are described in detailbelow with reference to the attached drawing figures, which areincorporated by reference herein, wherein:

FIGS. 1 2, and 3 depict schematic diagrams of exemplary systems formanufacturing shoe parts in an automated manner in accordance with thepresent invention;

FIGS. 4 and 5 depict flow diagrams of respective methods ofmanufacturing shoe parts in an automated manner in accordance with thepresent invention;

FIG. 6 depicts a block diagram of an exemplary computing device that maybe used with systems and methods in accordance with the presentinvention; and

FIGS. 7 and 8 depict schematic diagrams of an overall process flow formanufacturing shoe parts in an automated manner in accordance with thepresent invention.

DETAILED DESCRIPTION

The subject matter of certain aspects of the present invention isdescribed with specificity herein to meet statutory requirements. Butthe description itself is not intended to define what is regarded as aninvention, which is what the claims do. The claimed subject matter maycomprise different elements or combinations of elements similar to theones described in this document, in conjunction with other present orfuture technologies. Terms should not be interpreted as implying anyparticular order among or between various elements herein disclosedunless explicitly stated.

Subject matter described herein relates to automated manufacturing ofshoe parts, and FIG. 7 depicts a schematic diagram of an overall processflow for an exemplary shoe-part manufacturing system 2. For example,FIG. 7 may illustrate a birds-eye perspective of variousshoe-part-manufacturing apparatuses and processes that are depicted byvarious arrows.

Each arrow in FIG. 7 may represent a step, stage, and/or process, thatis performed on one or more shoe parts or shoe-part assemblies and thatmay be performed in an automated manner, manually, or some combinationthereof. Exemplary steps, stages, and/or processes may be comprised ofcutting, stitching, attaching, stamping, molding, slicing, or otherwisemaking individual shoe parts. Other exemplary steps, stages, and/orprocesses may be comprised of moving or relocating a part, as well asplacing a part with respect to another part (e.g., on top of anotherpart). For example, system 2 may be comprised of part-moving apparatusesthat sort a set of parts into subsets, which are moved along adesignated path or stream within system 2. Additional steps, stages,and/or processes may be comprised of attaching one or more partstogether, such as by stitching, adhering, sonic welding, melting,gluing, etc. These steps, stages, and/or processes that are listed aremerely exemplary, and a variety of other shoe-manufacturing processesmay be carried out by system 2 and the various stations (i.e., arrows)depicted therein. As such, system 2 depicts various processes thatconverge and combine to manufacture various shoe-part assemblies.

A variety of different shoe-manufacturing apparatuses may be utilized tocarry out the various functions represented by the arrows depicted inFIG. 7. Shoe-manufacturing apparatuses may perform respective functionsin an automated manner, may be used as an instrument to assist withmanual execution, or may function in a manner that is both automated andmanual. Exemplary shoe-manufacturing apparatuses may comprise apart-moving apparatus (e.g., conveyor system, motor-driven turntable,robotic arm, etc.); a part-pickup tool (e.g., vacuum tool, graspingtool, scooping tool, etc.); a part-attachment tool (e.g., sewingapparatus, sonic-welding tool, heat press, cold press, etc.); animage-capturing device (e.g., camera, video recorder, charge-coupleddevice, etc.); a laser; a light-emitting device (e.g., LED, fluorescentlight bulb, full spectrum light bulb, color-specific light bulb, etc.);and a computing device. This list of shoe-manufacturing apparatuses ismerely exemplary and a variety of other apparatuses may also becomprised in system 2. As such, one or more of these exemplaryshoe-manufacturing apparatuses may be represented by an arrow in FIG. 7.

System 2 is comprised of various modular stations and components thatmay be moved from one position to another to perform the same ordifferent tasks. For example, a certain modular component (e.g., pickuptool or part-moving apparatus) that operates at arrow 3 to process anupper part of a shoe upper may be interchangeable with a component thatoperates at arrow 4 or at arrow 6. Moreover, the various modularstations that comprise system 2 may be replaced or modified based on aparticular type of shoe part on which the station is operating. Forexample, a shoe-part-manufacturing apparatus that operates atintersection 7 may be configured to process a certain type or style ofshoe upper part, and the system 2 may be instructed to process a certainnumber of that type or style (e.g., 1000 units). However, after thecertain number of parts is processed, the shoe-part-manufacturingapparatus that operates at intersection 7 may be reconfigured ormodified to operate on a different style or type. Moreover, specificstations (i.e., arrows) may be added, subtracted, powered up, or powereddown based on a certain style or type of shoe that is beingmanufactured. For example, although arrow 3 may be utilized whenprocessing one type of shoe part, arrow 3 may be powered down or removedwhen system 2 is processing a different type of shoe part.

System 2 may also be comprised of shoe-part-specific groupings ofapparatuses. For example, grouping 8 is comprised ofupper-part-manufacturing apparatuses, grouping 9 is comprised ofmidsole-part-manufacturing apparatuses, and grouping 13 is comprised ofoutsole-part-manufacturing apparatuses. While FIG. 7 may depict aparticular arrangement of groupings 8, 9, and 13, a variety ofalternative arraignments may be utilized. For example, although FIG. 7depicts a midsole part 15 b being fed to grouping 13, in another aspectan outsole part may be fed to a midsole-part grouping 9. Moreover, anassembly of a midsole and outsole may be fed into a grouping 8 directedto upper-part assembly.

In a further aspect, information may be gathered at various stationsthat is utilized to carry out various shoe-manufacturing processes. Forexample, information may be derived by analyzing one or more images thatdepict a representation of a shoe part and/or assembly of shoe parts. Inaddition, information may be derived by projecting a laser onto a shoepart, capturing an image of the projected laser line, and analyzing theimage. Exemplary information that may be gathered may describe variousaspects of a shoe part, such as a size, shape, surface topography,placement, orientation, rotation, alignment, etc.

Accordingly, in a further aspect, once information has been generated,collected, or derived, the information may be shared among components ofeach grouping. For example, information (e.g., shoe-part identity,shoe-part orientation, shoe-part size, etc.) may be communicated amongthe various shoe-manufacturing apparatuses (e.g., arrows) depicted ingrouping 8. Moreover, information derived in one grouping may be sharedwith another grouping. For example, information about a midsole assembly(e.g., information describing a size of a midsole assembly) may bederived from shoe-manufacturing apparatuses in grouping 9 and thenshared with grouping 13 in order to instruct processes directed tooutsole-part manufacturing. Furthermore, information derived fromgroupings 9 and 13 may be combined to instruct steps directed tocombining a midsole and an outsole. In a further aspect, informationderived from grouping 9 and/or 13 may be communicated to grouping 8 toinstruct operations directed to upper-part construction. A variety ofother types of information may be shared among the various components ofsystem 2 to enable system 2 to carry out shoe-manufacturing processes inan automated manner.

The arrangement of arrows as depicted in system 2 is exemplary and thearrows (i.e., manufacturing stages) may be rearranged in various otherconfigurations. For example, system 2 may be comprised of a circulartrack (e.g., conveyor system) that has manufacturing arms or spokes(e.g., other conveyor systems) feeding into a central circular track orfeeding outward towards a circumscribing circular track. In anotherexemplary system, a main track may be arranged in a zigzag pattern thattraverses from one station to the next. Again, these describedarrangements are merely examples, and a variety of other arrangementsmay be utilized.

FIG. 7 depicts that system 2 may be comprised of an upper-part grouping8 of components that are directed to manufacturing an upper-part of ashoe assembly. As such, each arrow in grouping 8 may feed a differentupper part (e.g., base layer, mesh layer, adhesive layer, eyeletreinforcement, support layer, aesthetic layer, etc.) into the overallupper-part assembly and/or may carry out a respective function.Exemplary functions may comprise cutting a part, identifying a part,determining a location and orientation of a part, moving a part to aplacement with respect to another part, stacking a part, and attachingthe part to another part. Accordingly, an overall upper-part assembly 15a may be constructed by grouping 8 and transferred downstream to one ormore other groupings. As already described, information (e.g., sizing,shape, position, style, color, etc.) that describes the overallupper-part assembly 15 a may be derived from grouping 8 (such as byusing a 2-D or 3-D image-analysis system) and may be passed downstreamin coordination with assembly 15 a.

FIG. 7 further depicts that grouping 9 is comprised of multiplemidsole-part components that coordinate to create a midsole part 15 b.Exemplary midsole-part components (e.g., arrows in grouping 9) mayprovide respective midsole parts and perform respective functions.Exemplary functions may comprise cutting a part, molding a part,painting a part, identifying a part, determining a location andorientation of a part, stacking a part, moving a part to a placementwith respect to another part, and attaching the part to another part.Various midsole parts may be integrated and assembled in grouping 9,such as cushioning elements, support elements, and/or torsion-controlelements. Examples of midsole components may comprise foam, rubber,and/or other polymers having various qualities, air pockets, phylonelements, and/or other molded components. Information describing midsolepart 15 b may be derived from grouping 9 (such as by using a 2-D or 3-Dimage-analysis system) and may be passed downstream in coordination withassembly 15 b.

FIG. 7 also depicts that grouping 13 is comprised of multipleoutsole-part components that coordinate to create an outsole part 15 c.Exemplary outsole-part components (i.e., arrows included in grouping 13)may provide respective outsole parts and perform respective functions.Exemplary functions may comprise cutting a part, molding a part,painting a part, identifying a part, determining a location andorientation of a part, stacking a part, moving a part to a placementwith respect to another part, and attaching the part to another part.Various outsole parts may be integrated and assembled in grouping 13,such as traction/tread elements, support elements, cushioning elements,and protective elements. Examples of outsole components may comprisefoams, rubbers, phylon, and other polymer-based materials having variousqualities. Information describing outsole part 15 c may be derived fromgrouping 13 (such as by using a 2-D or 3-D image-analysis system) andmay be passed downstream in coordination with assembly 15 c.

FIG. 7 further depicts that a midsole part may be combined with anoutsole part to make an outsole-and-midsole assembly 15 d. Moreover,information derived from grouping 13 may be combined with informationderived from grouping 9 and communicated downstream in coordination withthe outsole-and-midsole assembly 15 d. In a further aspect, anoutsole-and-midsole assembly may be combined with an upper part (e.g.,lasted or unlasted) to create an assembly 15 e having an outsole, amidsole, and an upper. Again, information derived from each respectivegrouping may be passed along in coordination and compiled at eachstation.

Once an upper, a midsole, and an outsole have been assembled, variousother shoe-manufacturing processes may be carried out by system 2. Forexample, quality checks may be performed by system 2. Moreover, otherparts may be added to the assembly, such as laces or certain aestheticelements. In addition, processes (e.g., packaging, cleaning, etc.) maybe carried out by system 2 that prepare a shoe to be transported orshipped to another location.

FIG. 8 depicts a schematic diagram of another exemplary overall processflow for a shoe-part manufacturing system 800. The system 800 maycomprise an upper manufacturing system 810 (hereinafter referred to asthe upper system 810) as well as a bottom manufacturing system 812(hereinafter referred to as the bottom system 812). The upper system 810may comprise a material prep station 814, a cut/form station 816, anassembly station 818, a decorating station 820, and/or a handworkstation 822. Manufacturing steps performed at these stations may includemanual manufacturing steps, automated manufacturing steps, and/or acombination of both manual and automated manufacturing steps. Further,although the upper system 810 is depicted as comprising five stations,the upper system 810 may comprise additional stations. Alternatively,the upper system 810 may comprise less than five stations. Additionally,manufacturing steps performed at one station may be performed at adifferent manufacturing location or facility than the other stations.Further, one or more stations could be combined such that manufacturingsteps associated with individual stations are combined at the combinedstation(s).

Exemplary functions performed at the material prep station 814 mayinclude assembling and organizing materials that will be used inshoe-upper construction, pre-treating materials where appropriate, andstacking materials. Exemplary functions performed at the cut/formstation 816 may include die-cutting shapes, molding shapes, castingshapes, and/or knitting shapes. Continuing, exemplary functionsperformed at the assembly station 818 may include assembling thedifferent shapes received from the cut/form station 816 into a shoeupper. Assembly may comprise stitching, fusing, welding, attaching,gluing, heat pressing, and the like.

After the shoe upper is assembled at the assembly station 818, it maycontinue on to the decorating station 820. Exemplary functions performedat the decorating station 820 may include high frequency (HF) embossing,spray painting, screen printing, and/or digital painting. Next, the shoeupper may proceed on to the handwork station 822. Exemplary functionsperformed at the handwork station 822 may include stitch closure,strobal attachment, and/or lasting. After processing at the handworkstation 822, the shoe upper may proceed on to a final assembly station832. This aspect will be explained in greater depth below. In oneaspect, manufacturing steps performed at the upper system 810 take placein two-dimensional (2-D) space. Thus, shape recognition technologies mayfocus on recognizing shoe upper components in 2-D space.

Turning now to the bottom system 812, the bottom system may comprise amaterial prep station 824, a mold/form station 826, an assembly station828, and/or a decorating station 830. Manufacturing steps performed atthese stations may include manual manufacturing steps, automatedmanufacturing steps, and/or a combination of both manual and automatedmanufacturing steps. Further, although the bottom system 812 is depictedas comprising four stations, the bottom system 812 may compriseadditional stations. Alternatively, the bottom system 812 may compriseless than four stations. Additionally, manufacturing steps performed atone station may be performed at a different manufacturing location orfacility than the other stations. Further, one or more stations could becombined such that manufacturing steps associated with individualstations are combined at the combined station(s).

Exemplary functions performed at the material prep station 824 mayinclude assembling and prepping materials to be used for midsoleconstruction and outsole construction. This may include, for example,assembling and/or manufacturing rubberized pellets to be used formolding midsoles and/or outsoles, assembling sheets of material (e.g.,rubber, foam, polyurethane), and/or stacking such materials. At themold/form station 826, the midsole and outsole are molded or formed outof the assembled materials. For instance, the rubberized pellets may bedeposited in a mold and heat applied to form the pellets into a midsoleand/or outsole. As well, the midsole and/or outsole may be die-cut frommaterials such as foam and/or rubber. After die-cutting, the materialsmay be further processed by molding the material into a desired shapefor the midsole and/or outsole by, for example, applying heat.Additional functions may include removing the midsole and/or outsolefrom molds.

Next, the midsole and/or outsole may proceed to the assembly station 828where the midsole and outsole are joined together by utilizingattachment technologies such as, for example, adhesive. Various midsoleparts may also be integrated into the midsole/outsole complex. These mayinclude cushioning elements, support elements, and/or torsion-controlelements. In one aspect, adhesive is applied to the outsole and themidsole is pressed into the outsole (e.g., a predetermined pressure isapplied for a predetermined amount of time to the midsole/outsoleassembly to facilitate adhesion). Heat may or may not be applied in thisprocess to facilitate adhesion. Next, the midsole/outsole complex mayproceed to the decorating station 830 where the midsole may be spraypainted. The midsole/outsole complex may then proceed to the finalassembly station 832. In one aspect, manufacturing steps performed atthe bottom system 812 take place in three-dimensional (3-D) space. Thus,shape recognition technologies may focus on recognizing shoe midsole andoutsole components in 3-D space.

Exemplary functions performed at the final assembly station 832 mayinclude attaching the shoe upper to the midsole/outsole complex. Suchattachment may occur, for example, by the application of an adhesive,pressure, and/or heat. Next, the completed shoe proceeds to a packingstation 834 where the shoe is boxed and readied for shipping. In oneaspect, the final assembly station 832 and the packing station 824 maybe combined into a single station. As well, the final assembly station832 and/or the packing station 834 may be located at anothermanufacturing location or facility than the other stations. The processflow depicted in FIGS. 7 and 8 may be extended to manufacturing anynumber of soft pieces in a flat arrangement using welding and/orstitching. For example, the upper system 810 described in FIG. 8 may beapplied to manufacturing items such as purses, duffle bags, backpacks,and clothing articles.

Quality control, either manual or automated, may occur throughout thesystem 800. For example, with respect to the upper system 810, 2-Drecognition technology may be employed to ensure that parts or shapesare properly placed and/or stacked during the assembly process. As well,with respect to the bottom system 812, 3-D recognition technology may beemployed to ensure that the midsole and/or outsole are properly formedand/or aligned with each other when the midsole is attached to theoutsole. A final quality control check may occur after final assemblybut before packing.

Referring now to FIG. 1, a grouping of shoe-part-manufacturingapparatuses is illustrated as part of an exemplary shoe-partmanufacturing system 10, which is depicted from a birds-eye perspective.System 10 is comprised of various automated manufacturing apparatusesand tools, which may function to, among other things, position andassemble shoe parts. Moreover, system 10 may be comprised of one or morestations, which are arranged in an order that may be at least partiallyautomated. For example, FIG. 1 depicts three general stations, as wellas a box 5 that represents a placeholder of other potential stations. Assuch, although three general stations are depicted in FIG. 1, system 10may be comprised of additional stations. In addition, the three depictedstations are exemplary, and system 10 may also have fewer stations suchas, for example, two stations. Moreover, each of the general stationsmay be comprised of various stations. For example, the componentsdepicted by reference numerals 20 a-i and 27 may each be considered astation. In an exemplary aspect, system 10 of FIG. 1 may be part ofsystem 2 depicted in FIG. 7 or system 800 depicted in FIG. 8.

Prior to being assembled, shoe parts 11 a-f may be maintained at apart-loading station 27. Part-loading station 27 may be a motionlesssurface, such as a table or workbench, from which parts are transferredto part-feeding apparatuses 20 a-i. For example, parts 11 a-f may bemanually loaded onto part-feeding apparatuses 20 a-i. In addition,part-loading station 27 may be comprised of a conveyor belt or otherautomated apparatus for moving parts. For example, part-loading station27 may move parts 11 a-f onto part-feeding apparatuses 20 a-11 n anautomated manner. Parts 14 a-h are depicted on part-feeding apparatuses20 a-i and illustrate parts that may have been automatically or manuallytransferred from part-loading station 27.

Parts 11 a-f and 14 a-h may be cut or otherwise prepared to beincorporated or assembled into another shoe part. For example, in oneaspect parts 11 a-11 f and 14 a-h may have been automatically cut from astock material using an automatic-cutting tool. An exemplaryautomatic-cutting tool may comprise a sharp edge that is shaped to matchan outline of a shoe part and that is pressed into a stock material.When an automatic-cutting tool is used, system 10 may derive a partidentity, part location, a part rotation, and/or a part size from theautomatic-cutting tool. For example, an automatic-cutting tool mayrecord a size and shape of the cutting pattern used to create the shoepart and communicate the recorded information to system 10, therebyapprising the system 10 of the identity and/or size of the cut shoepart. Moreover, an automatic-cutting tool may record a location at whicha cutting step was executed, as well as a rotation of a cuttinginstrument when the cutting step was executed, and communicate thisrecorded information to system 10, thereby informing the system 10 ofthe orientation (e.g., coordinate position and rotation) of the cut shoepart within the system. In an exemplary aspect, this part-identityinformation and part-orientation information, which may be derived froma cutting tool, may be used to determine a position at which system 10places a part and attaches a part.

In a further aspect, system 10 may be used to combine parts 11 a-f and14 a-h in a manner depicted by parts 12 a-e. As such, shoe parts 11 a-f,12 a-e, and 14 a-h may be comprised of a single part or of a pluralityof assembled parts. For example, shoe parts 11 a-f, 12 a-e, and 14 a-hmay be comprised of one or more layers of flexible material, such astextile, leathers, TPU, materials, etc. Shoe parts 11 a-f, 12 a-e, and14 a-h may be physical structures of a completed shoe and/or componentsthereof, such as an adhesive (or other attachment means) that may beused to join shoe components during a shoe manufacturing process. In oneexemplary aspect, shoe parts 11 a-f, 12 a-e, and 14 a-h representdifferent pieces of a shoe upper that are assembled prior to molding theshoe upper for attachment to other shoe parts. The shapes andcombinations depicted by shoe parts 11 a-f, 12 a-e, and 14 a-h aremerely exemplary.

As indicated system 10 also may be comprised of part-feeding stations 20a-i, which make parts available to be used in a shoe-manufacturingprocess. For example, parts 11 a-f may be loaded (e.g., illustrated byarrows 25 a-c) onto part-feeding stations 20 a-i from part-supplystation 27. Part-feeding stations 20 a-i may be fixed stations thatsupport shoe parts in a stationary position to be either manually orautomatically retrieved. For example, stations 20 a-i may comprisetables, workbenches, or other motionless support elements. As such,parts may be placed on these fixed stations in a part-pickup zone (e.g.,29) to be either manually or automatically retrieved. Alternatively,stations 20 a-i may be comprised of feeding apparatuses (e.g.,conveyors) that move parts, which are loaded from part-supply station27, into a part-pickup zone (e.g., 29), from which parts are eithermanually or automatically transferred. If information that describes apart has been recorded, such as an identity, size, and orientation, thisinformation may be passed along with the part as it travels from oneposition to the next within system 10. For example, if a part-feedingstation is comprised of a conveyor system, a known movement pattern ofthe conveyor system may be combined with an initial position of a shoepart (e.g., as determined by an automatic cutting tool) to determine asubsequent position to which the part has been moved by the conveyorsystem.

System 10 may transfer shoe parts from part-feeding stations 20 a-i invarious manners. In one aspect, shoe parts may be manually transferredfrom part-feeding stations 20 a-i. For example, shoe part 12 a may havebeen manually placed on tray 21 b in a position that allowsshoe-manufacturing apparatus 16 a to act on shoe part 12 a. In addition,shoe part 14 a may be manually placed on top of shoe part 12 a to allowshoe parts 12 a and 14 a to be assembled. Alternatively, shoe parts maybe transferred from part-feeding stations 20 a-11 n an automated manner,such as by using shoe-manufacturing apparatuses 16 a-c. For example,shoe-manufacturing apparatus 16 a may have transferred shoe part 12 afrom part-feeding station 20 a onto tray 21 b. Shoe-manufacturingapparatus 16 a may also transfer part 14 a onto part 12 a and thenattach part 14 a onto part 12 a.

Shoe-manufacturing apparatuses 16 a-c may be comprised of variouscomponents or tools that are used to carry out variousshoe-manufacturing steps, such as picking up, transferring, positioning,placing, attaching, spraying, cutting, coloring, printing, etc. FIG. 1depicts circles 32 a-c that represent exemplary operating areas in whichshoe-manufacturing apparatuses 16 a-c may move and carry out variousfunctions. Moreover, shoe-manufacturing apparatuses 16 a-c, as well astools that may be incorporated therein, may manipulate and act on shoeparts in an automated manner. For example, shoe-manufacturingapparatuses 16 a-c may carry out automated steps based on informationthat is communicated to apparatuses 16 a-c and that describedcharacteristics (e.g., identity, position, rotation, etc.) of the shoeparts. Moreover, the term “shoe-manufacturing apparatus” describes anapparatus that may manufacture shoes, shoe parts, or a combinationthereof. As such, the terms “shoe-manufacturing apparatus,”“shoe-part-manufacturing apparatus,” and “part-manufacturing apparatus”may be used interchangeably throughout this disclosure and the claimsthat follow.

Shoe-manufacturing apparatuses 16 a-c may be comprised of various toolsthat are arranged at various positions on moveable extensions or arms.Exemplary arms or extensions may be multi-axis and may move in variousplanes or directions in order to position a tool to operate on a shoepart. For example, apparatuses 16 a-c may be comprised of a set of a4-axis arm extensions or a set of 6-axis arm extensions.

In a further aspect, a variety of different tools may be integrated withapparatuses 16 a-c. For example, apparatuses 16 a-c may be comprised ofan automatic cutting tool that is used to cut a shoe part from a stockmaterial. As previously described, an exemplary automatic cutting toolmay be comprised of a sharp edge that is pressed into the stockmaterial. Moreover, information derived from the automatic cutting toolmay be communicated to the apparatuses 16 a-c to apprise the apparatusof the part identity, location, size, orientation, etc. Apparatuses 16a-c may also be comprised of a pick-up tool that functions to pick up ashoe part from a part-feeding apparatus. For example, a pick-up tool mayapply a pick-up force, such as by applying suction, grasping, gripping,adhering, scooping, etc. In one aspect, a cutting tool and a pick-uptool may function in a cooperative manner. For example, once a cuttingtool has executed a cutting pattern in a stock material to form a shoepart, a part-pickup tool may apply a suction to the shoe part and/or aforce against the stock material to separate the formed shoe part fromthe stock material.

In an exemplary aspect, system 10 may comprise a part-recognition systemthat determines characteristics of some or all of the various partsbeing manipulated. For example, the part-recognition system maydetermine characteristics of parts that are loaded onto a part-feedingstation 20 a-i, that are picked up by a shoe-manufacturing apparatus 16a-c, or that have already been transferred onto surfaces 18 a-d or trays21 a-b. Exemplary characteristics that may be determined by thepart-recognition system may be a part identity, a part location withinthe operating area (e.g., circle 32), an amount of part rotation withinthe operating area, a placement location within the operating area towhich a part will be transferred, and an attachment location within theoperating area at which a part will be attached to another part.

System 10 may comprise more than one part-recognition system, such thateach part-recognition system determines characteristics of a particulargrouping of parts. For example, a first part-recognition system maydetermine characteristics of parts located within area 32 a, whereas asecond part-recognition system may determine characteristics of partslocated within area 32 b. Accordingly, the multiple part-recognitionsystems may communicate with one another as parts move from one stationto another. Alternatively, system 10 may be comprised of a singlepart-recognition system that determines characteristics of parts in eachof the areas 32 a-c. In an exemplary aspect, at least a portion of apart-recognition system comprises a computing device that executescomputer instructions. For example, the computer instructions may bestored in a computer storage media and executed by a processor of thecomputing device.

The part-recognition system may comprise image recorders 34 a-i (e.g.,cameras or video recorders) positioned throughout system 10. Imagerecorders 34 a, 34 d, and 34 g represent below-mounted recorders, whichmay capture images of parts held being transferred by shoe-manufacturingapparatuses 16 a-c. In addition, image recorders 34 b, 34 e, and 34 hrepresent above-mounted recorders, which may capture images of partspositioned above on surfaces 18 a-d or trays (e.g., 21 a and 21 b).Moreover, image recorders 34 c, 34 f, and 34 i represent anapparatus-mounted recorder, which is mounted to a respective one ofshoe-manufacturing apparatus 16 a. Recorders 34 c, 34 f, and 34 i mayrecord images of parts positioned at part-feeding stations 20 a-i orthat have already been transferred. Recorders 34 a-i and theirrespective positions are merely exemplary, and system 10 may comprisemore or fewer recorders that are arranged in different positions.

In one exemplary aspect, the part-recognition system derives informationfrom the recorded images. For example, an identity of a part may bederived from an image by applying a part-recognition protocol. Inaddition, an orientation (e.g., position and amount of rotation) of apart with respect to a work area 32 a-c may be derived. Such informationmay be used to determine placement position of parts, as well asattachment positions. Accordingly, the placement position and attachmentpositions may be used to instruct shoe-manufacturing apparatus 16 a-c.

In another exemplary aspect, various light-emitting devices 34 may bepositioned throughout system 10. Light-emitting devices 34 may help tocreate a contrast between a part, which is being captured in an image,and an environment or background that surrounds the part. Such acontrast may assist the part-recognition system with determining aboundary and/or identity of the part. As such, light-emitting devicesmay be positioned to provide a back light behind a part or to illuminatea front surface of the part. In a further aspect, lasers may bepositioned throughout system 10 and may function to project a laser lineonto a shoe part. As such, images may be recorded that depict theprojection of the laser line across the shoe part; the images aresubsequently analyzed to derive shoe-part information.

In an exemplary aspect, each shoe-manufacturing apparatus 16 a-c may becomprised of movable arms 26 a-b, which may rotate or extend/retract toenable the apparatus to reach a desired position. Arms 26 a-b aregenerally depicted as connected by a single joint; however, arms 26 a-bmay be comprised of multiple articulations that enable each arm to movein a variety of directions.

Moreover, each shoe-manufacturing device may have a part-pickup tool 24a-c, which is capable of picking up one or more parts from apart-feeding station 20 a-i. Exemplary part-pickup tools may pick up theone or more shoe parts by applying various techniques, such as grasping,applying suction, adhering, scooping, etc. In another aspect,characteristics of a shoe part may help to facilitate picking up theshoe part. For example, a shoe part may have a tab or other structurewith which a part-pickup tool engages. In another example, a shoe partmay have a pre-laminated film or other composition that provides anamount of tackiness or stickiness, which may provide a releasableadherence to the pickup tool. Accordingly, once the part-recognitionsystem has notified a shoe-manufacturing apparatus of a shoe-partposition on part-feeding station 20 a-i, the part-pickup tool 24 a-c maybe used to pick up the shoe part from that shoe-part position.

In a further aspect, each part-pickup tool is capable of releasing apart when the part is positioned at a desired location, such as on topof part 12 a. Releasing a part may be passive, such as by simplyreleasing a grip, suction, or other holding technique. The passiverelease of a part may be assisted by a degree of suction applied to theunderneath of the trays 21 a-e which helps to “capture” the part afterit has been released. In addition, releasing a part may be more active,such as by applying a force or pressure (e.g., blown air) against thereleased part and towards the element onto which the released part maybe positioned. Accordingly, once the part-recognition system hasnotified a shoe-manufacturing apparatus of a placement position at whicha shoe part should be placed, the part-pickup tool 24 a-c may be used torelease the shoe part at that placement position.

Part-pickup tools 24 a-c may each have a same design, or respectivedesigns may vary between apparatuses. For example, pickup tool 24 a maybe different from both pickup tools 24 b and 24 c. In one aspect, pickuptools 24 a-c are selected and implemented based on characteristics ofshoe part that will be made available at a part-feeding station 20 a-i.Exemplary characteristics that may determine a type of pickup tool aresize, shape, weight, profile, etc. For example, if parts 12 a and 14 aare bigger than other parts manipulated in system 10, such as parts 14b-f, pickup tool 24 a may be designed to pickup larger shoe parts andpickup tool 24 b may be designed to pickup smaller shoe parts. Moreover,part-pickup tools 24 a-c may be a combination of part-pickup tools, suchthat each tool of the combination is designed to pick up a differentsized shoe part. For example, a part-pickup tool may have one tool thatpicks up larger shoe parts and another part that picks up smaller shoeparts, such that the part-pickup tool may be considered a hybridpart-pickup tool.

In a further aspect, each shoe-manufacturing apparatus 16 a-c maycomprise a part-attachment tool 30 a-c, which operates to attach shoeparts to one another. For example, a part-attachment tool 30 a mayattach part 14 a onto part 12 a after part 14 a has been placed ontopart 12 a. Various attachment methods and techniques may be applied bypart-attachment tools 30 a-c, such as adhering, stitching, sonicwelding, heat press, cold press, etc. Moreover, each part-attachmenttool may have a different configuration based on the parts to becoupled. That is, part-attachment tool 30 a may have a differentconfiguration than part-attachment tool 30 b. As such, in an exemplaryaspect, once the part-recognition system has determined apart-attachment location, a part-attachment tool 30 a-c may be used toattach shoe parts in an automated manner. In one aspect, the shoe partsare temporarily attached in order to maintain positioning for downstreamprocessing.

FIG. 1 depicts that shoe parts 12 a-e may be moved through a series ofmanufacturing processes by which other shoe parts (e.g., 14 a-h) may beadded thereto. For example, shoe parts 12 a-e may be flatly arranged onsurfaces 18 a-d, such that shoe parts 14 a-h are placed on an upperfacing surface of shoe parts 12 a-e. That is, in an exemplary aspect,shoe-manufacturing apparatuses 16 a-c may be used to place shoe part 12a onto surface 18 a or tray 21 b and to position shoe parts 14 a-hrespective to shoe part 12 a.

As depicted in FIG. 1, system 10 may be comprised of one or morepart-support surfaces 18 a-d, which may support shoe parts 12 a-e whenthe shoe parts are positioned to be acted upon by shoe-manufacturingapparatuses 16 a-c. For illustrative purposes, arrows 19 a-c aredepicted to indicate a possible direction in which shoe parts are movedfrom one shoe-manufacturing apparatus to another. Accordingly, stationsmay be set up along the path depicted by arrows 19 a-c.

Part-support surfaces 18 a-d may be comprised of various non-movingsurfaces, such as tables or workbenches. As such, parts 12 a-e may bemanually transferred from one position to the next to be sequentiallyacted upon by part-manufacturing apparatuses. In addition, part-supportsurfaces 18 a-d may be comprised of a series of movable surfaces, suchas conveyors that transfer shoe parts from one position to a next in anautomated manner. The rectangular path of surfaces 18 a-d depicted inFIG. 1 is merely exemplary, and surfaces 18 a-d may be arranged in anyconfiguration, which may be comprised of more or fewer surfaces.

System 10 may also comprise support trays 21 a-b onto which shoe partsare placed. Trays 21 a-b may be helpful in various instances. Forexample, a tray may help facilitate transfer of a shoe part from onemoving conveyor 18 d to another moving conveyor 18 a. In addition, atray may have various features that assist to hold a shoe part in adesired position. For example, a top side of a tray may have an amountof tackiness that helps to prevent a shoe part from sliding. Inaddition, a top side of a tray may receive pins or other temporaryfasteners, which are positioned through the shoe part to hold the shoepart in place. In another aspect, a tray may have a series of aperturesspaced throughout, such that a suction force, which is generated on anunderneath side of the tray, may be applied to a shoe part positioned ona top side of the tray. A suction force utilized in such a manner (i.e.,on the underneath side of tray) may help to hold a shoe part in adesired position when the shoe part is being acted upon by ashoe-manufacturing apparatus 16 a-c. As well, the suction force may beutilized to assist in the passive release of a shoe part byshoe-manufacturing apparatuses 16 a-c.

In an exemplary aspect, steps taken to secure a shoe part to a tray maybe timed and executed in coordination with a release or placement bypart-pickup tool 24 a-c. That is, as previously described, part-pickuptool 24 a-c may passively release a shoe part, or may actively apply aforce or pressure against a shoe part, in order to place a shoe part ata desired position. Accordingly, a suction or other implementationapplied to a tray to hold a shoe part in position on the tray may betimed to allow the shoe part to be passed off from the part-pickup toolto the tray.

As previously described, system 10 may be comprised of one or moreassembly stations, which are arranged in an assembly line that may be atleast partially automated. FIG. 1 depicts three exemplary stations, aswell as a box 5 that represents a placeholder for other potentialstations. As such, although only three stations are depicted in FIG. 1,system 10 may comprise additional stations. In addition, the threedepicted stations are exemplary, and system 10 may also comprise fewerstations.

System 10 may further be comprised of one or more heat presses 70 andone or more cold presses 72. The heat presses 70 and cold presses 72 maybe arranged in any order to carry out desired shoe-part assembly. Forinstance, heat presses 70 and cold presses 72 may be aligned on eitherside part-support surfaces 18 a-d to facilitate faster assembly. Heatapplied by heat press 70 may further activate adhesive elementspositioned among a compilation of parts that comprise shoe part 12 e. Byapplying pressure to both part 12 e and the heat activated elements, thecompilation of parts may be pressed into a more compact layer of shoeparts. Applying a cold press 72 to part 12 e after heat press 70 maythen cause the adhesive elements to solidify and/or set, thereby holdingthe compilation of parts together.

System 10 may comprise a variety of other 74 manufacturing apparatusesor stages. For example, system 10 may comprise a quality control stationthat enables manual or automated inspection of shoe parts. System 10 mayalso comprise a station at which part 12 e is assembled with or attachedonto another shoe part. Moreover, system 10 may comprise a station atwhich shoe part 12 e is buffed, molded, cut, decorated, and/or furtherprocessed.

In a further aspect, station 74 may represent a removal of a shoe partfrom surface 18 a-d or from a tray (e.g., 21 a-b). For example, a partmay be removed to be stacked with other similar parts or to betransferred to another shoe-part manufacturing system, which executesother shoe-manufacturing processes. As such, a shoe part may be liftedoff of a tray (e.g., 21 a-b) at station 74. In an exemplary aspect, ashoe part may be constructed using a type of hot melt, which may stickto a tray or other surface that supports the shoe part. As such, trays21 a-b may have a mechanism or feature to secure or fix the trays 21 a-bto surface 18 a-d and to help prevent a shoe part from sticking to thetray. In an exemplary aspect, a tray may have a flange or otherstructural element that may be used to hold the tray down (i.e., againsta support surface such as 18 a-d) when a shoe part is picked up off thetray.

Various methods and steps may be performed by system 10. Generally, afirst shoe part 12 a may be positioned on a support surface 18 a or 21 band at a first manufacturing station, wherein the first shoe part issubstantially flat on the support surface. In addition, a firstautomated part pickup tool 24 a may place a second shoe part 14 a on topof the first shoe part, and a first automated attachment tool 30 a mayattach the second shoe part to the first shoe, thereby forming anassembly (e.g., 12 b) of the first shoe part and the second shoe part.As used throughout this application, the term “attach” may meanpermanent attachment or temporary attachment in order to maintainpositioning for downstream processing. In a further step, the assemblyis moved to a second manufacturing station (as depicted by part 12 b),such that a second automated part pickup tool 24 b places a third shoepart 14 b or 14 c on top of the assembly 12 b of the first shoe part andthe second shoe part. Subsequently, a second automated attachment tool30 b may attach the third shoe part to the assembly of the first shoepart and the second shoe part.

Other methods may also be performed by system 10. For example, supportsurface 18 a-d (e.g., conveyor) may move a tray 21 a-b into position toreceive a shoe part (e.g., 12 a). A part-recognition system may identifypart 12 a and determine a location and orientation of part 12 a withinarea 32 a. Based on the location and orientation, a placement positionand attachment position of other shoe parts may be determined. Thepart-recognition system may determine an identity, location, andorientation of part 14 a. Part 14 a may be picked up by tool 24 a,transferred by parts 26 a-b to the placement position, and attached atthe attachment position by tool 30 a. Part 12 b provides an exemplaryillustration of part 12 a and part 14 a assembled into a shoe part.

Once assembled, shoe part 12 b may be transferred by surface 18 a-d toanother position near shoe-manufacturing apparatus 16 b. As such,part-recognition system may determine an identity of part 12 b and anorientation and location of part 12 b within area 32 b. Based on theidentity, location, and orientation, respective placement positions andrespective attachment positions of other shoe parts 14 b-e may bedetermined. The part-recognition system may determine an identity andorientation of parts 14 b-e. Parts 14 b-e may then be sequentiallypicked up by tool 24 b, sequentially transferred to the respectiveplacement positions, and sequentially attached at the respectiveattachment positions by tool 30 b. Part 12 c provides an exemplaryillustration of part parts 12 b and 14 b-e assembled into a shoe part.Shoe part 12 c may be transferred to subsequent stations (e.g., nearshoe-manufacturing apparatus 16 c) to be manipulated and assembled totogether with additional parts (e.g., 14 g and 14 h). For example, shoepart 12 e provides an exemplary illustration of an assembly includingparts similar to 12 a and 14 a-h.

Referring now to FIG. 2, a depiction is provided of a system 110 inwhich various shoe-manufacturing processes may be performed. System 110is comprised of various automated manufacturing apparatuses and tools,which may function to, among other things, position and assemble shoeparts. For example, shoe parts 112 and 114 may be transferred byshoe-manufacturing apparatus 116 and assembled. Whereas FIG. 1 depictsmultiple shoe-manufacturing apparatuses 16 a-c, FIG. 2 depicts a singleshoe manufacturing apparatus 116. As such, system 110 of FIG. 2 may be astation within a larger system 10 of FIG. 1. For example,shoe-manufacturing apparatus 116 of FIG. 2 may perform functions of shoemanufacturing apparatus 16 a depicted in FIG. 1.

Elements in FIG. 2 may be relatively generically represented so as tofit into the context of the schematic diagrams of FIG. 2 and into thedescription provided herein. For example, shoe parts 112 and 114 andapparatus 116 are relatively generic shapes, which are provided forexemplary and explanatory purposes. However, these elements may becomprised of various other shapes, sizes, configurations, etc. and stillmay be consistent with FIG. 2 and the description provided herein. Forexample, parts 112 and 114 may be similar to parts 12 a and 14 adepicted in FIG. 2.

Accordingly, shoe parts 112 and 114 may comprise the same or differenttypes of flexible material, such as textile, leathers, TPU materials,etc. Shoe parts 112 and 114 may be physical structures of a completedshoe and/or components thereof, such as an adhesive (or other attachmentmeans) that may be used to join shoe components during a shoemanufacturing process. In one exemplary aspect, shoe parts 112 and 114represent different pieces of a shoe upper that are assembled prior tomolding the shoe upper for attachment to other shoe parts.

FIG. 2 depicts that system 110 may be comprised of various manufacturingstations, such as a first manufacturing station 118, a secondmanufacturing station 120, and a third manufacturing station 122. Amanufacturing station may serve various functions, such as storing shoeparts, making shoe parts available to be retrieved by other tools, andsupporting shoe parts that are being assembled. For example, the secondmanufacturing station 120 and the third manufacturing station 122 maymake shoe parts 114 and 112 available to be retrieved and transferred tothe first manufacturing station 118. Moreover, the first manufacturingstation 118 may function as an assembly station at which shoe parts 112and 114 are assembled. While only one part is depicted at stations 120and 122, each station may also support multiple parts at the same time.As such, stations 118, 120, and 122 of FIG. 2 may perform functions ofsupport surface 18, feeding station 20 a and feeding station 20 b/c(respectively) of FIG. 1.

A manufacturing station may be comprised of various manufacturingsupport apparatuses. For example, a manufacturing station may comprise afixed support surface, such as a table, bench, etc. In addition, amanufacturing station may comprise a movable support surface thattransfers one or more shoe parts from one location to another location.A conveyor apparatus having a conveyor belt is an example of a movablesupport surface. For example, stations 120 and 122 may comprise conveyorapparatuses that move shoe parts 112 and 114 to a retrieval area, fromwhich shoe parts 112 and 114 are acquired by shoe-manufacturingapparatus 116. Moreover, station 118 may comprise a conveyor apparatusthat moves one or more shoe parts along an assembly line, therebyallowing the one or more shoe parts to undergo variousshoe-manufacturing steps (e.g., assembly, molding, pressing, qualitycontrol, etc.).

System 110 may have other shoe-manufacturing apparatuses and tools, suchas shoe-manufacturing apparatus 116, which may comprise tools 124, 126a-d, 128, and 130 that are described below. Shoe-manufacturing apparatus116 may function in various capacities. For example, shoe-manufacturingapparatus 116 may pick up shoe parts 112 and 114 and transfer the shoeparts 112 and 114 to various positions. In one exemplary aspect, shoeparts 112 and 114 may be moved into a field of view of a camera (e.g.,134 c or 134 d). Moreover, shoe parts 112 and 114 may be transferred toanother manufacturing station.

As such, shoe-manufacturing apparatus 116 may be comprised of multipletools that are integrated into a single shoe-manufacturing apparatus.Each of the multiple tools that comprise shoe-manufacturing apparatus116 may serve one or more respective functions, such that the multipletools cooperatively operate to execute tasks of the shoe-manufacturingapparatus 116. In an exemplary aspect, shoe-manufacturing apparatus 116comprises a pick-up tool 124, a part-transfer tool 126 a-d, alight-emitting tool 128, and/or a part-attachment tool 130. As alreadyindicated, the depictions of each of these tools 124, 126 a-d, 128, and130 may be generic, such that each tool may comprise alternative shapes,sizes, configurations, and components in accordance with more specificaspects of the present invention.

An exemplary part-pickup tool 124 may function to pick up one or moreparts from a manufacturing station. Accordingly, a part-pickup tool 124may pick up the one or more parts by manipulating or working on theparts in various manners, such as by grasping or gripping, scooping,adhering, and/or applying a suction force to the part. As such, apart-pickup tool 124 may comprise various components that function tocarry out a desired manner of temporarily picking up a part, retaining apart while the part is being moved, and releasing the part when the partis positioned at a desired position. For example, a part-pickup tool 124may comprise a robotic claw that functions to grip or grasp a shoe part.Alternatively, an exemplary part-pickup tool 124 may comprise a vacuumtool, which applies a suction force to the part that is sufficient topick up the part. In another aspect, part-pickup tool 124 may compriseelectromagnetic components and/or tacky/adhesive components.

In one aspect, the part-pickup tool 124 comprises a part-pickup tooldescribed in U.S. patent application Ser. No. 13/299,934, which istitled MANUFACTURING VACUUM TOOL, and is incorporated in its entiretyherein by reference. For example, the part-pickup tool 124 may comprisea plate having a plurality of apertures as depicted in FIGS. 1 and 5-15of U.S. application Ser. No. 13/299,934. Furthermore, part-pickup tool124 may function to pickup shoe parts having a variety ofcharacteristics or combinations of characteristics, such as rigid,malleable, porous, non-porous, etc. Moreover, part-pickup tool 124 maybe functional to pick up and position a part constructed, at least inpart, of leather, polymers, textiles, rubber, foam, mesh, and/or thelike. In a further aspect, a part is comprised of a pre-laminatedcomposition (e.g., hot melt) that helps to facilitate adherence of thepart to the part-pickup tool when the part pickup tool picks up,transfers, and places the part.

An exemplary part-transfer tool 126 a-d may function to transfer andposition various items throughout system 110. In an aspect of theinvention, an exemplary part-transfer tool 126 a-d may transfer andposition other tools (e.g., part-pickup tool 124 and part-attachmenttool 130) that may be integrated with part-transfer tool 126 a-d intoshoe-manufacturing apparatus 116. For example, part-transfer tool 126a-d may position part-pickup tool 124 in an orientation relative tostations 120 and 122 that enables part-pickup tool 124 to pick up a shoepart. In another example, part-transfer tool 126 a-d may positionpart-attachment tool 130 in an orientation relative to station 118 thatenables part-attachment tool to couple shoe parts positioned at station118. In another aspect of the invention, a part-transfer tool 126 a-dmay transfer a shoe part that has been picked up by part-pickup to 124to another position. For example, when part-pickup tool 124 picks upeither part 112 or 114, part-transfer tool 126 a-d may maneuver toenable part 112 or 114 to be positioned at station 118.

Arrows 127 a-f are depicted in FIG. 2 to illustrate exemplary directionsin which part-transfer tool 126 a-d may move. As such, part-transfertool 126 a-d may move back and forth in a direction of arrows 127 a-cand may move rotationally in a direction of arrows 127 d-f. Arrows 127a-f are exemplary only. Accordingly, a part-transfer tool 126 a-d maytransfer a part in various manners, such as by employing a combinationof telescoping members, hydraulic arms, and/or articulating joints.Moreover, part-transfer tool 140 is depicted in broken lines toillustrate another position to which part-transfer tool 126 a-d maymove, such as when the part-transfer tool moves a shoe part from station120 or 122 to station 118.

An exemplary light-emitting tool 128, which is integrated withshoe-manufacturing apparatus 116, may function to illuminate at least aportion of a shoe part. For example. Light-emitting tool 128 mayfunction as a front light that illuminates shoe parts 112 and 114 wheneach is positioned at a respective station. Moreover, light-emittingtool 128 may function as a back light that illuminates a shoe partacquired and held by part-pickup tool 124. Other descriptions ofexemplary characteristics and purposes of a light-emitting tool ordevice are provided in U.S. application Ser. No. 13/299,856, which istitled AUTOMATED IDENTIFICATION OF SHOE PARTS, and is incorporated byreference herein in its entirety. For example, system 110 may alsocomprise light-emitting devices 138 a-f, which are described in moredetail below.

An exemplary part-attachment tool 130 may function to attach one or moreshoe parts onto another shoe part. As such, a part-attachment tool 130may comprise components that function to carry out a desired manner ofattaching a part, such as by stitching, adhering, welding, heatpressing, and/or any other attachment method that is suitable to attachshoe parts. For example, a part-attachment tool 130 may comprise anautomatic sewing tool that functions to make a stitch at a desiredlocation on parts to be connected. Alternatively, an exemplarypart-attachment tool 130 may comprise an ultrasonic-welding tool, whichapplies a frequency to the part that is sufficient to weld the part toanother part. In another aspect, an exemplary part-attachment tool 130may apply a heat weld or press.

In one aspect, the part-attachment tool 130 may comprise apart-attachment tool described in U.S. patent application Ser. No.13/299,908, which is titled MULTI-FUNCTIONAL MANUFACTURING TOOL, and isincorporated in its entirety herein by reference. For example, thepart-attachment tool 130 may comprise an ultrasonic welder that isidentified by reference numeral 200 and is depicted in various figuresof said U.S. application Ser. No. 13/299,908. Accordingly, thepart-attachment tool 130 and the part-pickup tool 124 may be combined asan integrated functional unit.

System 110 may also be comprised of a part-recognition system, whichanalyzes an image or scan of a shoe part to determine variouscharacteristics of the shoe part. For example, the part-recognitionsystem may analyze an image to determine a part's size, shape, color,thickness, identity, compliance with quality-control measures, position,rotation, distance from other parts, etc. Moreover, the part-recognitionsystem may be used to instruct other shoe-manufacturing devices (e.g.,116) regarding a manner in which a part should be manipulated in amanufacturing process, such as by attaching the part to another part,rotating, cutting, buffing, coloring, printing, spraying, customizing,molding, etc. In an exemplary aspect, the part-recognition system may beused to determine an identity of a shoe part (e.g., 112 and/or 114),which is positioned at a manufacturing station (e.g., 118, 120, and/or122), and to determine an orientation (e.g., geometric position andamount of rotation) of the shoe part within a dimensional coordinatesystem (two-dimensional (2-D) coordinate system and/or three-dimensional(3-D) coordinate system), which is identified by axes 132.

As such, an exemplary part-recognition system may be comprised of one ormore image recorders 134 a-f (e.g., cameras) that may be positionedthroughout system 110 and may communicate with a computing device 136.When executing functions of the part-recognition system, an imagerecorder may record an image of a shoe part that depicts a 2-Drepresentation of the shoe part and that is analyzed to derive variousinformation. Image recorders 134 a-f are exemplary only, and the number,location, and/or orientation of image recorders 134 a-f may vary beyondthe example illustrated in FIG. 2.

Part-recognition system may further comprise light-emitting tool 128,which was described above as a tool integrated into manufacturingapparatus 116, as well as light-emitting devices 138 a-f. Light-emittingdevices 128 and 138 a-f may be utilized to provide a certain lightingeffect to a shoe part when an image is recorded. For example, alight-emitting device may provide a contrast between a shoe part and asurrounding environment (e.g., background), thereby making a boundary ofa shoe part easier to detect in an image.

Light-emitting devices 138 a-f represent lighting devices (e.g.,incandescent bulbs, fluorescent devices, LEDs, or any other devicecapable of emitting light) that may be positioned at various locationsthroughout system 110. As such, light-emitting devices 138 a-f may bepositioned to provide various lighting effects to a shoe part. Exemplarylighting effects may be a front light or a back light. For example, whenshoe part 112 is at station 122, lighting device 138 a may provide aback-light effect when a camera 134 a or 134 b records an image of theshoe part 112. Moreover, light-emitting device 138 c may provide a frontlight to part 112 at station 122. The light-emitting devices 138 a-fdepicted in FIG. 2 are exemplary only, and the number, type, andposition of light-emitting devices 138 a-f may vary.

In an exemplary aspect, an image recorded by part-recognition system iscommunicated to computing device 136. Computing device 136 may helpexecute various operations, such as by analyzing images and providinginstructions to shoe-manufacturing equipment. Computing device 136 maybe a single device or multiple devices, and may be physically integralwith the rest of system 110 or may be physically distinct from othercomponents of system. Computing device 136 may interact with one or morecomponents of system 110 using any media and/or protocol. Computingdevice 136 may be located proximate to or distant from other componentsof system 110.

In an exemplary aspect, computing device 136 may help analyze images andderive information therefrom. For example, information that computingdevice 136 derives from an image may comprise an identity of a shoe partand an orientation of the shoe part with respect to a 2-D geometricsystem. An orientation may comprise a geometric coordinate (e.g., xvalue and y value) in the 2-D geometric coordinate system, as well as anamount to which a shoe part is rotated in the 2-D geometric coordinatesystem.

In a further aspect, computing device 136 may use the image-derivedinformation to instruct shoe-manufacturing apparatus 116, such as bynotifying shoe-manufacturing apparatus 116 of a part orientationrelative to the 2-D coordinate system 132 and of a new part orientationto which the shoe part should be transferred. For example, in system110, shoe-manufacturing apparatus 116 may attach part 115 to part 113,both parts being depicted in a broken-line view. That is, part 112 andpart 113 may be the same part that is depicted at two differentpositions in system 110, and part 114 and part 115 may be the same partthat is depicted at two different positions in system 110.

Accordingly, computing device 136 may first determine an identity ofpart 112/113 and an orientation of part 112/113 at station 118. Based onthe identity of part 112/113 and the orientation of part 112/113 atstation 118, computing device 136 may determine an orientation 142 inthe 2-D geometric coordinate system to which part 114/115 may betransferred. Moreover, computing device 136 may determine an attachmentpoint at which part 114/115 is to be attached to part 112/113 bypart-attachment tool 130. In addition, FIG. 2 illustrates that arotation of part 114 may be different than a rotation of part 115,thereby depicting that the third orientation may comprise an amount ofrotation in addition to a geometric coordinate.

As such, in an aspect of the invention, the part-recognition system maycomprise some or all of the 2-D part-recognition system described inU.S. patent application Ser. No. 13/299,856, which is titled AUTOMATEDIDENTIFICATION OF SHOE PARTS, and is incorporated in its entirety hereinby reference.

Referring now to FIG. 4, a flow diagram depicts a method 410 ofmanufacturing a shoe part in an automated manner that may be carried outin system 110. In describing FIG. 4, reference is also be made to FIG.2. In addition, method 410, or at least a portion thereof, may becarried out when a computing device (e.g., 136) executes a set ofcomputer-executable instructions stored on computer storage media.

At step 412, method 410 may comprise positioning a first shoe part at afirst manufacturing station, wherein a part-recognition systemdetermines a first identity of the first shoe part and determines afirst orientation of the first shoe part respective to a two-dimensional(2-D) geometric coordinate system. For example, shoe part 113 may bepositioned at station 118, such as by a conveyor apparatus or byshoe-manufacturing apparatus 116. Part-recognition system may analyze animage of shoe part 113 to determine an identity of shoe part 113 and anorientation of shoe part 113 as positioned at station 118. As describedabove, the orientation of shoe part 113 may comprise a geometriccoordinate and amount of rotation in 2-D geometric coordinate system132. An image of shoe part 113 may be captured by any of cameras 134a-f, depending on where shoe part 113 is positioned when the image iscaptured.

Method 410 may also comprise at step 414, retrieving a second shoe partfrom a second manufacturing station, wherein the part-recognition systemdetermines a second identity of the second shoe part and determines asecond orientation of the second shoe part respective to the 2-Dgeometric coordinate system. For example, shoe part 114 may be retrievedby apparatus 116 either after an image of part 114 is recorded (e.g., byusing camera 134 a or 134 b) or before an image of part 114 is recorded(e.g., by using camera 134 c when apparatus 116 positions part 114 in afield of view of camera 134 c). In either scenario, the image may beanalyzed to determine a part identify of part 114 and a part orientationof part 114.

At step 416, the part-manufacturing apparatus may be used to transferthe second shoe part (e.g., part 114 that is also represented in brokenlines as part 115) from the second orientation to a third orientation,which is determined based on the first orientation and the firstidentity. That is, as described above, once part 113 has been identifiedand located, part-recognition system may determine an orientation (e.g.,142) to which part 115 should be placed. Furthermore, at step 418, thepart-manufacturing apparatus (e.g., 116), which transferred the secondpart, may be used to attach the second shoe part to the first shoe part.

Referring to FIG. 3, another exemplary system 210 is depicted in whichan automated shoe-manufacturing process may be carried out. System 210is comprised of various automated manufacturing apparatuses and tools,which may function to, among other things, position and assemble shoeparts. For example, system 210 may function to transfer one or more shoeparts 211-214 from stations 218 and 220 to station 222. Moreover, system210 may function to attach the one or more shoe parts 211-214 onto ashoe part 215 a-b positioned at station 222. In these respects, shoeparts 211-214 may be similar to shoe parts 14 b-f of FIG. 1. Moreover,stations 218 and 220 may be similar to stations 20 d-f of FIG. 1, andstation 222 may be similar to surface 18 a.

Accordingly, whereas FIG. 1 depicts multiple shoe-manufacturingapparatuses 16 a-c, FIG. 3 depicts a single shoe manufacturing apparatus216. As such, system 210 of FIG. 3 may be a station within a largersystem 10 of FIG. 1. For example, shoe-manufacturing apparatus 216 ofFIG. 3 may perform functions of shoe manufacturing apparatus 16 bdepicted in FIG. 1. Moreover, system 210 may be comprised of somecomponents that function similarly to system 110, such as variousshoe-manufacturing stations, light-emitting devices, image recorders,and a shoe-manufacturing apparatus.

While system 110 and 210 may share similar components, components ofsystem 210 may operate differently than elements described in system110. For example, systems 110 and 210 may be arranged at differentpositions within system 10 (FIG. 1) and may be configured to assembledifferent shoe parts.

In FIG. 3, system 210 may comprise a shoe-manufacturing apparatus 216,which is similar to apparatus 116 depicted in FIG. 2. For example,shoe-manufacturing apparatus 216 may be comprised of a part-pickup tool224, a part-transfer tool 226 a-d, a light-emitting device 228, and apart-attachment tool 230, which execute respective functions in acooperative manner to carry out tasks of apparatus 216. In addition,arrows 227 a-f depict directions in which apparatus 216 may adjust andmove to transfer tools or parts to various positions within system 210.

However, because shoe parts 211-214 may need to be processed differentlythan shoe parts 112 and 114 (of FIG. 2), tools associated withshoe-manufacturing apparatus 216 may function in a different manner thanin apparatus 116. For example, shoe parts 211-214 may have differentcharacteristics than shoe parts 112 and 114, such that system 210comprises operations, functions, and components that are different thansystem 110. For example, shoe part 212 may be comprised of a differentsize, configuration, construction, purpose, etc. relative to shoe parts112 or 114. As such, system 210 may pick up, transfer, attach, andexecute manufacturing processes related to part 212 in a manner that isdifferent than in system 110.

In an exemplary aspect, shoe parts 211-214 may be comprised of smallerdimensions than parts in system 110. As such, part-pickup tool 224 maycomprise a single-aperture or dual-aperture vacuum tool, such as theexemplary tool depicted in FIG. 22 of previously mentioned U.S.application Ser. No. 13/299,934, which is titled MANUFACTURING VACUUMTOOL, and is incorporated in its entirety herein by reference. Inanother exemplary aspect, part-pickup tool 224 may comprise both asingle- or dual-aperture vacuum tool, as well as a plate having aplurality of apertures. Such an exemplary hybrid part-pickup tool mayfunction to pickup up parts having a range of sizes that is wider than asingle- or dual-aperture tool or plate-style tool alone. In anotheraspect, part-pickup tool 224 and part-attachment tool 230 may beintegrated into a single head.

In a further aspect of the invention, some or all of shoe parts 211-214may be positioned at stations 218 and 220 in a manner that matches aconfiguration of the parts 211-214 when the parts are attached to a basepart (e.g., 215 a). As such, a pickup tool 224 may simultaneously pickup multiple parts in a manner that holds the parts in the configuration;transfers the parts while maintaining the configuration; and then placesthe parts on the base part while maintaining the configuration. Forexample, a plate-style pickup tool having multiple apertures may be usedto pick up more than once part at a time, while maintaining the parts ina configuration. In another aspect, multiple single- or dual-aperturepickup tools may be used to pick up more than one part at a time.

Various techniques may be applied to arrange some or all of shoe parts211-214 at stations 218 and 220 to match a configuration of the partwhen attached to a base. For example, shoe parts 211-214 may be cutusing an automatic cutting tool that is programmed to cut the shoe partsin a pre-determined configuration. An exemplary automatic cutting toolmay comprise a plurality of part-shaped dies that are arranged on theautomatic cutting tool to match the pre-determined configuration, suchthat when the part-shaped dies are pressed into a stock material, thecut parts are arranged to match the pre-determined configuration. Inanother aspect, another part-manufacturing apparatus (e.g., similar to216) may be used to place parts 211-214 at stations 218 and 220 in anpre-determined configuration.

In another aspect of the present invention, some or all of shoe parts211-214 are moved from stations 218 and 220 and are attached to anassembly of parts 215 a-b. As such, a part-recognition system of system210 may execute a part-selection protocol, which determines an order inwhich the apparatus 216 is instructed to sequentially transfer shoeparts. For example, a protocol may determine that parts 211-214 aretransferred and attached in a pre-determined order. Alternatively, aprotocol may determine that parts 211-214 may be transferred andattached in any order. In another aspect, a protocol may determine thatan order in which parts 211-214 may be transferred is dictated by aposition of each part among stations 218 and 220. For example, aprotocol may instruct apparatus 216 to transfer parts in an order thatenables a most efficient movement path (e.g., least distance and leastrotation) from stations 218 or 220 to station 222.

Referring now to FIG. 5, a flow diagram depicts a method 510 ofmanufacturing a shoe part in an automated manner that may be carried outin system 210. In describing FIG. 5, reference is also be made to FIG.3. In addition, method 510, or at least a portion thereof, may becarried out when a computing device 236 executes a set ofcomputer-executable instructions stored on computer storage media.

A block 512 depicts a step of positioning a first shoe part at a firstmanufacturing station, wherein a part-recognition system determines afirst identity of the first shoe part and determines a first orientationof the first shoe part within a two-dimensional (2-D) geometriccoordinate system. For example, shoe parts 215 a and 215 b may comprisea first shoe part positioned at manufacturing station 222. That is, ashoe part may also be comprised of an assembly of shoe parts.Accordingly, image recorder 234 a and/or 234 b may record an image ofthe assembly of parts 215 a and 215 b that is analyzed to determine anidentity of the assembly and an orientation of the assembly relative to2-D geometric coordinate system 232. As such, part-recognition systemmay treat the assembly of parts 215 a and 215 b as a single part foridentification purposes and when determining an orientation.

Block 514 depicts a step of sequentially retrieving a second shoe partand a third shoe part from one or more manufacturing stations, whereinthe part-recognition system determines respective identities of thesecond shoe part and the third shoe part and determines respectiveorientations, which are within the 2-D geometric coordinate system, ofthe second shoe part and the third shoe part. For example, shoe part 212may be retrieved by apparatus 216, wherein an image of shoe part 212captured by camera 234 c or 234 d before the retrieval or by camera 234e or 234 f after the retrieval. The image of shoe part 212 may beanalyzed by part-recognition system to determine a respective identityand respective orientation of shoe part 212. Subsequently, shoe part 211may be retrieved, and an image of part 211 may be analyzed to determinea respective identity and respective orientation of shoe part 211.

A block 516 depicts using a part-manufacturing apparatus to sequentiallytransfer the second shoe part and the third shoe part from therespective orientations to respective subsequent orientations, both ofwhich are determined based on the first orientation and the firstidentity. Continuing with the above example, if part 212 is retrievedfirst, apparatus 216, and more specifically tool 226 a-d, may be used totransfer part 212 from the respective orientation of part 212 when theimage was recorded to a subsequent orientation, which is illustrated bya broken-line view 246 of part 212. The subsequent orientation depictedby 246 may be determined based on an orientation of the assembly ofparts 215 a and 215 b. Moreover, if part 211 is retrieved second,apparatus 216 may then transfer part 211 from the respective orientationof part 211 to a subsequent orientation, which is illustrated by abroken-line view 248 of part 212. The subsequent orientation depicted by248 may be determined based on an orientation of the assembly of parts215 a and 215 b.

A block 518 depicts using the part-manufacturing apparatus, whichsequentially transferred the second shoe part and the third shoe part,to attach the second shoe part and the third shoe part to the first shoepart. For example, part-attachment tool 230 of apparatus 216, which mayalso transfer parts 211 and 212 using tools 224 and 226 a-d, may attachparts 212 and 211 at orientations 246 and 248 (respectively) to theassembly of parts 215 a and 215 b. That is, pickup tool 224 may releasepart 212 (such as by removing a suction force), which is attached usingpart-attachment tool 230 to part 215 a at orientation 246. Then, part211 may be retrieved, transferred, and released by pickup tool 224 atorientation 248, at which point part 211 is attached by part-attachmenttool 230.

Although method 510 is described as a series of sequential steps, thesecond shoe part and the third shoe part may be retrieved simultaneouslyfrom one or more manufacturing stations. In this aspect, thepart-recognition system determines respective identities andorientations of the second shoe part and third shoe part. Thepart-manufacturing apparatus may then simultaneously transfer the secondshoe part and the third shoe part from the respective orientations torespective subsequent orientations, both of which are determined basedon the first orientation and the first identity. The second shoe partand the third shoe part may then be either sequentially orsimultaneously attached to the first shoe part.

Accordingly, systems 110 and 210 have been described that may compriseat least a portion of system 10. The components of systems 110 and 210are interchangeable and combinable in various manners to enablemanufacturing of shoes and shoe parts having a wide range ofcharacteristics. For example, shoe-manufacturing apparatus 16 c maycomprise various combinations of parts described with respect toapparatus 16 a and 16 b. Alternatively, shoe-manufacturing apparatus 16c may be comprised of different tools.

In an exemplary aspect, a part-pickup tool 24 c (or a part pickup toolin “N Stations” 5) may be comprised of a medium pickup tool that isdesigned to pickup medium-sized shoe parts. A medium pickup tool may beconfigured in various manners to achieve desired functionality. In anexemplary aspect, a medium pickup tool is comprised of a plate that issimilar to the plate described with respect to pickup tool 24 a.However, if pickup tool 24 a is designed to pick up larger shoe partsthan pickup tool 24 c, the plate of pickup tool 24 c may be smaller thanthe plate of pickup tool 24 a. An example of a smaller plate is depictedby FIGS. 19-21 of previously identified U.S. application Ser. No.13/299,934.

In another exemplary aspect a part-pickup tool 24 c (or a part-pickuptool in “N Stations” 5) may be comprised of a combination of pickuptools, such that the pickup tool may be able to pick up shoe parts thatrange in size. For example, a part-pickup tool may be comprised of acombination of both a single- or dual-aperture pickup tool (as describedwith respect to pickup tool 24 b) and a pickup tool having a plate withmultiple apertures. As such, a combination pickup tool (i.e., hybridpickup tool) may be able to pick up both small shoe parts andmedium/large shoe parts.

As described above, our technology may comprise, among other things, amethod, a system, or a set of instructions stored on one or morecomputer-readable media. Information stored on the computer-readablemedia may be used to direct operations of a computing device, and anexemplary computing device 600 is depicted in FIG. 6. Computing device600 is but one example of a suitable computing system and is notintended to suggest any limitation as to the scope of use orfunctionality of invention aspects. Neither should the computing system600 be interpreted as having any dependency or requirement relating toany one or combination of components illustrated. Moreover, aspects ofthe invention may also be practiced in distributed computing systemswhere tasks are performed by separate or remote-processing devices thatare linked through a communications network.

Computing device 600 has a bus 610 that directly or indirectly couplesthe following components: memory 612, one or more processors 614, one ormore presentation components 616, input/output ports 618, input/outputcomponents 620, and an illustrative power supply 622. Bus 610 representswhat may be one or more busses (such as an address bus, data bus, orcombination thereof). Although the various blocks of FIG. 6 are shownwith lines for the sake of clarity, in reality, delineating variouscomponents is not so clear, and metaphorically, the lines would moreaccurately be grey and fuzzy. For example, processors may have memory.

Computing device 600 typically may have a variety of computer-readablemedia. By way of example, and not limitation, computer-readable mediamay comprises Random Access Memory (RAM); Read Only Memory (ROM);Electronically Erasable Programmable Read Only Memory (EEPROM); flashmemory or other memory technologies; CDROM, digital versatile disks(DVD) or other optical or holographic media; magnetic cassettes,magnetic tape, magnetic disk storage or other magnetic storage devices,carrier wave or any other medium that can be used to encode desiredinformation and be accessed by computing device 600.

Memory 612 is comprised of tangible computer-storage media in the formof volatile and/or nonvolatile memory. Memory 612 may be removable,nonremovable, or a combination thereof. Exemplary hardware devices aresolid-state memory, hard drives, optical-disc drives, etc.

Computing device 600 is depicted to have one or more processors 614 thatread data from various entities such as memory 612 or I/O components620. Exemplary data that is read by a processor may be comprised ofcomputer code or machine-useable instructions, which may becomputer-executable instructions such as program modules, being executedby a computer or other machine. Generally, program modules such asroutines, programs, objects, components, data structures, etc., refer tocode that perform particular tasks or implement particular abstract datatypes.

Presentation component(s) 616 present data indications to a user orother device. Exemplary presentation components are a display device,speaker, printing component, light-emitting component, etc. I/O ports618 allow computing device 600 to be logically coupled to other devicesincluding I/O components 620, some of which may be built in.

In the context of shoe manufacturing, a computing device 600 may be usedto determine operations of various shoe-manufacturing tools. Forexample, a computing device may be used to control a part-pickup tool ora conveyor that transfers shoe parts from one location to another. Inaddition, a computing device may be used to control a part-attachmenttool 130 that attaches (e.g., welds, adheres, stitches, etc.) one shoepart to another shoe part.

Many different arrangements of the various components depicted, as wellas components not shown, are possible without departing from the scopeof the claims below. Exemplary aspects of our technology have beendescribed with the intent to be illustrative rather than restrictive.Alternative aspects will become apparent readers of this disclosureafter and because of reading it. Alternative means of implementing theaforementioned can be completed without departing from the scope of theclaims below. Certain features and subcombinations are of utility andmay be employed without reference to other features and subcombinationsand are contemplated within the scope of the claims.

The invention claimed is:
 1. A method for manufacturing shoe parts in anautomated manner, the method comprising: positioning a first shoe partat a first manufacturing station, wherein a part-recognition systemdetermines a first identity of the first shoe part and determines afirst orientation and first location of the first shoe part; retrievinga second shoe part from a second manufacturing station, wherein thepart-recognition system determines a second identity of the second shoepart and determines a second orientation of the second shoe part; usinga part-manufacturing apparatus to transfer the second shoe part onto thefirst shoe part by transferring the second shoe part from its secondorientation to a third orientation relative to the first shoe part,which is determined based on the first orientation and the firstidentity of the first shoe part; and using the part-manufacturingapparatus, which transferred the second shoe part, to temporarily attachthe second shoe part to the first shoe part to maintain positioning fordownstream processing.
 2. The method of claim 1, wherein the first shoepart is positioned at the first manufacturing station by thepart-manufacturing apparatus.
 3. The method of claim 1, wherein thefirst shoe part is positioned at the first manufacturing station by aconveyor.
 4. The method of claim 1, wherein each orientation comprises arespective coordinate point in a 2-D geometric coordinate system and arespective amount of part rotation.
 5. The method of claim 4, whereinthe part-recognition system determines the first orientation, which isrespective to the 2-D geometric coordinate system, by analyzing an imageof the first shoe part that depicts a two-dimensional representation ofthe shoe part.
 6. The method of claim 1, wherein transferring the secondshoe part onto the first shoe part by the part-manufacturing apparatuscomprises moving the second shoe part from a second-orientationgeometric coordinate to a third-orientation geometric coordinaterelative to the first shoe part and adjusting an amount of rotation ofthe second shoe part from a second-orientation rotation amount to athird-orientation rotation amount relative to the first shoe part. 7.The method of claim 1, wherein the part-manufacturing apparatuscomprises a part-pickup tool, a part-transfer tool, and apart-attachment tool, which are integrated into a singlepart-manufacturing apparatus.
 8. The method of claim 1 furthercomprising, transferring an assembly of the first shoe part and thesecond shoe part to a third manufacturing station; determining a thirdidentity of the assembly and a fourth orientation of the assembly thatdescribes a fourth-orientation geometric coordinate of the assembly anda fourth-orientation part rotation of the assembly at the thirdmanufacturing station; retrieving a third shoe part from a thirdmanufacturing station, wherein the part-recognition system determines athird identity of the third shoe part and determines a fifth orientationof the third shoe part; using another part-manufacturing apparatus totransfer the third shoe part onto the assembly by transferring the thirdshoe part from its fifth orientation to a sixth orientation relative tothe assembly, which is determined based on the fourth orientation andthe third identity of the assembly; and using the otherpart-manufacturing apparatus, which transferred the third shoe part, totemporarily attach the third shoe part to the assembly to maintainpositioning for downstream processing.
 9. A system for manufacturingshoe parts in an automated manner, the system comprising: a firstmanufacturing station at which a first shoe part is positioned; a secondmanufacturing station at which a second shoe part is positioned; apart-recognition system that uses a processor, which communicates withcomputer-storage media, to determine a first identity and a firstorientation of the first shoe part and to determine a second identityand a second orientation of the second shoe part; and apart-manufacturing apparatus that transfers the second shoe part ontothe first shoe part by transferring the second shoe part from its secondorientation to a third orientation relative to the first shoe part, (1)wherein the part-recognition system determines the third orientationbased on the first identity and the first orientation of the first shoepart, and (2) wherein the part-manufacturing apparatus attaches thesecond shoe part onto the first shoe part.
 10. The system of claim 9,wherein the first manufacturing station and the second manufacturingstation comprise a respective conveyor.
 11. The system of claim 9,wherein the part recognition system comprises one or more imagerecorders that record respective images of the first shoe part and thesecond shoe part, and wherein the respective images comprisetwo-dimensional representations that are analyzed to determine arespective identity and a respective orientation.
 12. The system ofclaim 11, wherein the one or more image recorders are fixed to thepart-manufacturing apparatus.
 13. The system of claim 11, wherein thepart-manufacturing apparatus positions the second shoe part in a fieldof view of an image recorder when an image of the second shoe part isrecorded.
 14. The system of claim 9, wherein the part-manufacturingapparatus comprises a part-pickup tool and a part-attachment tool. 15.The system of claim 14, wherein when the part-pickup tool transfers thesecond shoe part onto the first shoe part, the second shoe part issubstantially flat when transferred onto the first shoe part.
 16. Thesystem of claim 9, wherein the part-manufacturing apparatus comprises avacuum tool and an ultrasonic welder.
 17. The system of claim 9 furthercomprising, one or more additional part-manufacturing apparatusesarranged at respective manufacturing stations, wherein thepart-manufacturing apparatus and the one or more additionalpart-manufacturing apparatuses are arranged in an automated assemblyline, which manufactures at least a portion of a shoe upper in anautomated manner.
 18. A method for manufacturing shoe parts in anautomated manner, the method comprising: positioning a first shoe parton a support surface and at a first manufacturing station, wherein thefirst shoe part is substantially flat on the support surface, andwherein a part-recognition system determines a first identity and afirst location of the first shoe part; using the part-recognition systemto determine a second identity of a second shoe part and a secondorientation of the second shoe part; placing by a first automated partpickup tool the second shoe part on top of the first shoe part bytransferring the second shoe part from its second orientation to a thirdorientation relative to the first shoe part, wherein a first automatedattachment tool attaches the second shoe part to the first shoe part,thereby forming an assembly of the first shoe part and the second shoepart; using the part-recognition system to determine a third identityand a fourth orientation of the assembly of the first shoe part and thesecond shoe part; using the part-recognition system to determine afourth identity of a third shoe part and a fifth orientation of thethird shoe part; moving the assembly of the first shoe part and thesecond shoe part to a second manufacturing station, wherein a secondautomated part pickup tool places the third shoe part on top of theassembly of the first shoe part and the second shoe part by transferringthe third shoe part from its fifth orientation to a sixth orientationrelative to the assembly of the first shoe part and the second shoepart, which is determined based on the third identity and the fourthorientation of the assembly; and attaching by a second automatedattachment tool the third shoe part to the assembly of the first shoepart and the second shoe part.
 19. The method of claim 18, wherein thesecond shoe part is substantially flat when placed on top of the firstshoe part, and wherein the third shoe part is substantially flat whenplaced on top of the assembly of the first shoe part and the second shoepart.
 20. The method of claim 18, wherein the first shoe part, thesecond shoe part, and the third shoe part comprise at least a portion ofa shoe upper.